NDLI: Tracking control of time-varying discontinuous trajectories with application to probe-based imaging and nanopositioning

Content Provider	IEEE Xplore Digital Library
Author	Bashash, S. Saeidpourazar, R. Jalili, N.
Copyright Year	2009
Description	Author affiliation: Smart Structures and Nanoelectromechanical Systems Laboratory, Department of Mechanical Engineering, Clemson University, SC 29634-0921, USA (Bashash, S.; Saeidpourazar, R.; Jalili, N.)
Abstract	In this effort, a supervisory switching control strategy is proposed for effective control of piezoelectric actuators in tracking harmonic trajectories with sudden discontinuities. A piezoelectrically-driven nanopositioning stage with high resolution capacitive position sensor is utilized in a set of experiments to study the performance of controllers tuned for tracking of continuous trajectories in tracking of stepped trajectories, and vice versa. Using a mixed Lyapunov-based robust adaptive and PID controller, it is observed that the controllers tuned for continuous trajectory tracking demonstrate large oscillations with light damping rate in tracking of stepped inputs. Conversely, when they are tuned for smoother step tracking, poor performance is achieved in tracking of continuous trajectories within a desired frequency range. Hence, a switching strategy is proposed to track desired trajectories using two controllers separately tuned for continuous and stepped trajectories. Switching conditions and transformation laws are then derived and experimentally implemented. Results indicate that the proposed framework presents higher performance compared to the individual controllers in tracking of discontinuous trajectories.
Starting Page	277
Ending Page	282
File Size	602685
Page Count	6
File Format	PDF
ISBN	9781424445233
ISSN	07431619
DOI	10.1109/ACC.2009.5160114
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Trajectory Nanopositioning Lighting control High-resolution imaging Piezoelectric actuators Capacitive sensors Robust control Programmable control Adaptive control Three-term control
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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